A pool-based method for trimming an underwater glider

A technology for underwater gliders and pools, applied in ship construction, ship design, ships, etc., can solve the problems affecting the automatic control of underwater gliders, lack of human-computer interaction, and no closed-loop feedback, so as to avoid errors and errors, Quick start and low labor cost

Active Publication Date: 2021-07-27
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

[0003] Since the underwater glider works in the ocean, it is greatly affected by its own buoyancy and gravity. In order to meet the needs of scientific research, it is necessary to adjust and set various attitudes of the underwater glider in the water through tank trimming. However, the current trimming method usually uses pure The method of manual calculation lacks the link of human-computer interaction and closed-loop feedback. During the trimming process, human errors will have a great impact on the test, resulting in low trimming accuracy and affecting the automatic control of the underwater glider

Method used

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  • A pool-based method for trimming an underwater glider
  • A pool-based method for trimming an underwater glider
  • A pool-based method for trimming an underwater glider

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Embodiment Construction

[0036] The present invention will be further described in detail below in conjunction with the examples.

[0037] The balance method invented this time adopts an intelligent adjustment method combining software, electrical control, and mechanical expertise, with software as the leading intelligent analysis and calculation, electrical control (electronic compass, potentiometer, etc.) as closed-loop feedback, and machinery as auxiliary operation. Before trimming, the basic framework of the software program of the underwater glider already has mature application conditions. In the actual trimming process, only simple operations are required to complete the electrical control. The potentiometer and sensor in the control system of the equipment itself are used for closed-loop feedback. Specific steps are as follows:

[0038] (1) Extract the parts of the carrier in contact with water, establish an envelope model whose material property is water, design the structure of the buoyancy...

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Abstract

The invention relates to a marine robot, in particular to a method for balancing an underwater glider based on a pool. The balancing method of the present invention has the characteristics of low cost, high efficiency, simplification, intelligence, etc., adopts an intelligent adjustment method combining software, electrical control, and mechanical expertise, uses software as the leading intelligent analysis and calculation, and electrical control (electronic compass, electric potential, etc.) Meter, etc.) as closed-loop feedback, and machinery as auxiliary operation, greatly improves the debugging efficiency of underwater gliders before sea trials, simplifies repetitive, low-tech labor, and saves a lot of manpower, material resources, and financial resources for batch production of underwater gliders.

Description

technical field [0001] The invention relates to a marine robot, in particular to a balancing method for an underwater glider driven by its own buoyancy change in a pool. Background technique [0002] The underwater glider is a new type of underwater mobile observation platform driven by its own buoyancy, without external propulsion devices, combined with buoys, submersible buoys and robot technology. The underwater glider has the characteristics of controllable motion, low noise, low energy consumption, low cost, strong endurance, and good synchronization, and has gradually become a general-purpose underwater observation platform. [0003] Since the underwater glider works in the ocean, it is greatly affected by its own buoyancy and gravity. In order to meet the needs of scientific research, it is necessary to adjust and set various attitudes of the underwater glider in the water through tank trimming. However, the current trimming method usually uses pure The manual calcul...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63B71/20
CPCB63B71/20
Inventor 金文明郭玉平王旭李超齐试航
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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